EP0062563B1 - Lateral acceleration control method for a missile and corresponding weapon system - Google Patents

Lateral acceleration control method for a missile and corresponding weapon system Download PDF

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Publication number
EP0062563B1
EP0062563B1 EP82400527A EP82400527A EP0062563B1 EP 0062563 B1 EP0062563 B1 EP 0062563B1 EP 82400527 A EP82400527 A EP 82400527A EP 82400527 A EP82400527 A EP 82400527A EP 0062563 B1 EP0062563 B1 EP 0062563B1
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EP
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Prior art keywords
pif
paf
missile
control
aerodynamic
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German (de)
French (fr)
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EP0062563A1 (en
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Gérard Selince
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Airbus Group SAS
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Airbus Group SAS
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/66—Steering by varying intensity or direction of thrust
    • F42B10/661—Steering by varying intensity or direction of thrust using several transversally acting rocket motors, each motor containing an individual propellant charge, e.g. solid charge
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/66—Steering by varying intensity or direction of thrust
    • F42B10/663—Steering by varying intensity or direction of thrust using a plurality of transversally acting auxiliary nozzles, which are opened or closed by valves

Definitions

  • the present invention relates to guided missiles intended for the neutralization of air attackers more particularly those animated by a very high speed on trajectory, having a great capacity of maneuver, with approach of final attack possible either in gliding flight, or in very strong dive.
  • a target is more particularly characterized by its displacement: speed, direction, maneuverability, trajectory.
  • the target can be hit by a guided missile according to a law of guidance (alignment guidance, proportional guidance, etc.), which brings the missile closer to the target as the latter moves slowly and regular.
  • alignment guidance proportional guidance, etc.
  • An end-of-travel error must be compensated by a final maneuver of piloting the missile towards the target.
  • the load factors in particular in the vicinity of the interception, must be all the more important and the response times all the shorter, the greater the maneuverability-escape performance of the target.
  • a typical offensive target representing a threat that is particularly difficult to neutralize
  • a supersonic missile which is extremely maneuverable and makes a final approach in sharp dive or in leveling.
  • the late discovery of the hostile missile requires neutralization as soon as possible in order to ensure the security of the site to be protected.
  • control surfaces causing this incidence are either of the aerodynamic type, or with control surfaces in the jet of the main propellant, or else by lateral auxiliary jets supplied from the main propellant or from independent elements.
  • a response time of a few hundredths of a second can be obtained by the use of forces passing practically through the center of gravity, these forces being able to be acquired aerodynamically or by lateral jets. In this case, there is little or no aerodynamic incidence taken but direct displacement of the center of gravity.
  • PAF force piloting
  • the invention relates essentially to a combination of aerodynamic steering "PAF", providing in particular a high load factor with steering "PIF which on the one hand provides a great speed of response and which also makes it possible to significantly raise the total maneuverability of the missile.
  • PAF aerodynamic steering
  • This invention makes it possible, in combination with numerous known devices, to define various new weapon systems, capable in particular of ensuring the destruction of a supersonic aerodyne with very high maneuverability performing an approach in low-angle flight or at a very high angle. of dive.
  • a first weapon system consists in vertically ejecting a missile with its accelerator off, tilting it in the direction of the target using the "PIF” piloting system, and switching on the accelerator to carry the missile at very high speed then, at the end of combustion of said accelerator, the center of gravity of the missile now remaining fixed, to be able to use “PIF-PAF” piloting.
  • a second weapon system consists of dropping the missile from an aerodyne and using its specific devices to carry out a rapid rally towards the objective.
  • the missile according to FIGS. 1 and 2 comprises, in the usual manner, a three-axis autopilot.
  • the detection of the target is carried out on the site (for example: a surveillance radar 11A on a surface building 11 which gives the situation of the target on site, deposit and distance) and the elements treated are communicated to said missile.
  • the invention proposes to associate with a missile comprising an aerodynamic piloting means with a high load factor called "PAF”, a force piloting mode called “PIF”, said piloting mode comprising means producing forces passing near the center of gravity as suggested by the examination of Figure 1.
  • references 1 and 2 respectively designate the missile and its releasable accelerator.
  • the missile 1 comprises: a seeker 3; piloting and guiding equipment 4; a force piloting mode “PIF itself comprising a device for deflecting jets 5 producing forces passing near the center of gravity C G and the propellant devices 6A and 6 B arranged in the vicinity of the deflection device 5 so that the known displacement of the center of gravity C G is very low during propellant of the propellant; a set of wing and aerodynamic control surfaces “PAF” bearing the general reference 7.
  • the reference 8 designates the deployable stabilizer in this case the releasable accelerator 2.
  • FIGS. 2 and 3 This is illustrated in FIGS. 2 and 3 where we see respectively a high performance objective 10, attacked during phase IV (FIG. 2) or even less effective but more distant objectives such as helicopter 13 or attacked plane 12 during phase V ( Figure 3).
  • objectives 12 or 13 could, a fortiori, be neutralized during phase IV.
  • the composite 1 + 2 missile and accelerator assembly extinguished is ejected from a site 11 at a speed of the order of a few tens of meters / second, for example using a gas generator associated with the launch tube 11 B.
  • phase I the first “PIF” force piloting regime is initiated, making it possible to achieve, in phase II, the tilting of said assembly in a few tenths of a second.
  • phase III the accelerator is on, causing the missile to accelerate to around 1,000 m / s.
  • the seeker begins its search for target 10 and, in the event of a catch before the end of acceleration phase III, a first correction of orientation of the missile is then carried out by means of the "PIF" .
  • the trajectory in the vertical plane is carried out in a slight dive in order to avoid certain possible effects such as the “image on the sea” effect for example.
  • yaw and pitch control is ensured by the first operating level of the "PIF", that is to say with action of said “PIF” device, offset from the center of gravity.
  • the yaw / pitch autopilot is a load factor control with high dynamic performance. It comprises a conventional aerodynamic pilot, of the “PAF” type, with a time constant of the order of a few tenths of a second, associated, in accordance with the invention, with force control, of the “PIF” type, at the center of gravity, this practically fixed time, whose response time is then very short, of the order of a hundredth of a second.
  • pilot's response time is slightly lower than that of each of its components while remaining fairly close to that of the fastest.
  • the third mode which corresponds to piloting in free flight, after stopping the “PIF” device, becomes of the classic aerodynamic type.
  • the “PIF” device can be reactivated later.
  • the actual guidance includes pre-steering and autoguiding.
  • the pre-guidance is inertial, carried out from information from the center, possibly readjusted in flight every second, and data from a “strap-down” type central unit for example.
  • It comprises two stages, one of tilting during which a attitude control is carried out controlled by the “PIF” device., The other of acceleration during which the missile always controlled by the “PIF” device, the other d acceleration during which the missile still controlled by the “PIF” device is directed towards an intermediate point between the current and the future goal.
  • Autoguiding begins immediately after the release of the accelerator, which requires approximately 0.1 seconds.
  • the guidance law is pure proportional navigation with a coefficient of around 4 with correction of the deceleration of the missile in the undisturbed flight phase.
  • the increased guidance order from the output of the model 15 serves as input to the aerodynamic pilot.
  • the aerodynamic pilot's servo error serves as input to both the device 16 for controlling the "PIF" and to its operating simulator 15.
  • the “PIF” works as a vernier on the error of the “PAF” which makes it possible to obtain an overall device whose operating capacity is the sum of the operating capacity of the partial devices and whose response time is close to the response time of the fastest partial device.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A lateral acceleration control method for a missile permits short response times to commands even of great amplitude. It comprises the association of an aerodynamic control system having large lateral acceleration capability, called PAF, with a force control system close to the center of gravity, having a moderate lateral acceleration capability, but with very short response time, called PIF. The overall response to a command includes the usual response of the aerodynamic automatic pilot to which there is added the response from the force control system, such that in the presence of a constant order, after a delay equal to the response time of the PAF, the PIF is entirely available for a new action.

Description

La présente invention concerne des missiles guidés destinés à la neutralisation d'attaquants aériens plus particulièrement ceux animés d'une vitesse très élevée sur trajectoire, disposant d'une grande capacité de manoeuvre, avec approche d'attaque finale possible soit en vol rasant, soit en très fort piqué.The present invention relates to guided missiles intended for the neutralization of air attackers more particularly those animated by a very high speed on trajectory, having a great capacity of maneuver, with approach of final attack possible either in gliding flight, or in very strong dive.

D'une façon générale une cible est plus particulièrement caractérisée par son déplacement : vitesse, direction, manoeuvrabilité, trajectoire. La cible peut être atteinte par un missile guidé selon une loi de guidage (guidage par alignement, guidage proportionnel...), qui amène le missile d'autant plus près de la cible que celle-ci se déplace d'une façon lente et régulière. Dans le cas d'une cible aérienne, plus l'explosion sera proche de l'objectif, plus la charge militaire pourra être faible à probabilité donnée de destruction dudit objectif.Generally speaking, a target is more particularly characterized by its displacement: speed, direction, maneuverability, trajectory. The target can be hit by a guided missile according to a law of guidance (alignment guidance, proportional guidance, etc.), which brings the missile closer to the target as the latter moves slowly and regular. In the case of an aerial target, the closer the explosion is to the objective, the lower the military load may be given the given probability of destruction of the objective.

Une erreur de fin de course doit être compensée par une manoeuvre finale du pilotage du missile vers la cible.An end-of-travel error must be compensated by a final maneuver of piloting the missile towards the target.

Ainsi les facteurs de charge, en particulier au voisinage de l'interception, doivent être d'autant plus importants et les temps de réponse d'autant plus courts, que les performances de manoeuvrabilité- évasion de la cible sont grandes.Thus, the load factors, in particular in the vicinity of the interception, must be all the more important and the response times all the shorter, the greater the maneuverability-escape performance of the target.

Dans le concept des armes nouvelles, une cible offensive type, représentant une menace particulièrement difficile à neutraliser, est constituée par un missile supersonique extrêmement manoeuvrant et effectuant une approche finale en fort piqué ou en vol rasant. Dans ce cas en effet, la découverte tardive du missile hostile exige une neutralisation au plus tôt afin d'assurer la sécurité du site à protéger.In the concept of new weapons, a typical offensive target, representing a threat that is particularly difficult to neutralize, is constituted by a supersonic missile which is extremely maneuverable and makes a final approach in sharp dive or in leveling. In this case, in fact, the late discovery of the hostile missile requires neutralization as soon as possible in order to ensure the security of the site to be protected.

Actuellement l'assaut de tels agresseurs est difficile à contrer par les systèmes défensifs connus. Un missile défensif à pilotage aérodynamique classique guidé en navigation proportionnelle ne peut intercepter de tels agresseurs que s'il est équipé d'une charge militaire très importante.Currently the assault of such aggressors is difficult to counter by known defensive systems. A defensive missile with conventional aerodynamic piloting guided in proportional navigation can only intercept such aggressors if it is equipped with a very heavy military load.

On peut certes utiliser une loi de guidage très performante, telle qu'appliquée dans des systèmes d'arme connus, mais leur efficacité dépend de la connaissance du temps restant à parcourir avant l'interception de l'objectif qui, en ambiance brouillée, ne peut être évaluée avec la précision nécessaire au résultat recherché. Ce type de loi fait, de plus, très schématiquement appel à une extrapolation au deuxième ordre du mouvement de l'objectif et elle est de ce fait prise à défaut si la cible effectue des variations rapides de mouvement avec une période aléatoire de valeur moyenne égale à quelques constantes de temps du missile guidé défensif. La distance de passage obtenue peut même être alors supérieure à celle qui résulterait d'une loi de guidage proportionnelle simple ce qui conduit à choisir là encore une charge militaire de masse importante.It is certainly possible to use a very efficient guide law, as applied in known weapon systems, but their effectiveness depends on the knowledge of the time remaining before the interception of the objective which, in a scrambled atmosphere, does not can be evaluated with the precision necessary for the desired result. This type of law also makes very schematic use of a second order extrapolation of the movement of the objective and it is therefore taken in default if the target performs rapid variations of movement with a random period of equal average value a few time constants from the defensive guided missile. The passage distance obtained can even be greater than that which would result from a simple proportional guidance law, which again leads to choosing a large mass military charge.

Il convient donc de compenser l'insuffisance du guidage selon les critères ci-dessus, en accroissant la manoeuvrabilité du missile défensif, autant dire en accroissant le facteur de charge et surtout en réduisant le temps de réponse dudit missile défensif.It is therefore necessary to compensate for the insufficiency of guidance according to the above criteria, by increasing the maneuverability of the defensive missile, in other words by increasing the load factor and above all by reducing the response time of said defensive missile.

Dans un missile à pilotage aérodynamique classique, assuré par prise d'incidence, la constante de temps liée à la réponse aérodynamique est toujours importante, de l'ordre de quelques dixièmes de secondes. Ce type de pilotage est ci-après désigné « PAF ».In a conventional aerodynamic piloted missile, provided by incidence, the time constant linked to the aerodynamic response is always important, of the order of a few tenths of seconds. This type of management is hereinafter referred to as "PAF".

Les gouvernes provoquant cette prise d'incidence sont soit de type aérodynamique, soit à gouvernes dans le jet du propulseur principal, soit encore par des jets auxiliaires latéraux alimentés à partir du propulseur principal ou d'éléments indépendants.The control surfaces causing this incidence are either of the aerodynamic type, or with control surfaces in the jet of the main propellant, or else by lateral auxiliary jets supplied from the main propellant or from independent elements.

Par ailleurs un temps de réponse de quelques centièmes de seconde peut être obtenu par l'utilisation de forces passant pratiquement par le centre de gravité, ces forces pouvant être acquises aérodynami- quement ou par jets latéraux. Dans ce cas, il y a peu ou pas prise d'incidence aérodynamique mais déplacement direct du centre de gravité.Furthermore, a response time of a few hundredths of a second can be obtained by the use of forces passing practically through the center of gravity, these forces being able to be acquired aerodynamically or by lateral jets. In this case, there is little or no aerodynamic incidence taken but direct displacement of the center of gravity.

Un tel mode de pilotage connu sous la dénomination de pilotage en force, ci-après désigné « PIF », apporte essentiellement une très grande rapidité de réponse.Such a piloting method known under the name of force piloting, hereinafter referred to as "PIF", essentially provides a very rapid response.

L'utilisation conjointe d'une commande de type « PIF et d'une commande de type « PAF pour le pilotage d'un missile est connue du document FR-A-2 226 066. Dans ce cas cependant la commande de type PIF apparaît simplement superposée à la commande de type « PAF au-delà d'une certaine valeur de la variation de la direction de visée du missile.The joint use of a “PIF” type command and a “PAF” type command for piloting a missile is known from document FR-A-2 226 066. In this case, however, the PIF type command appears simply superimposed on the “PAF” type command beyond a certain value of the variation in the direction of sight of the missile.

L'invention concerne essentiellement une association du pilotage aérodynamique « PAF », apportant en particulier un facteur de charge élevé avec le pilotage « PIF qui procure d'une part une grande rapidité de réponse et qui permet par ailleurs de relever notablement la manœuvrabilité totale du missile.The invention relates essentially to a combination of aerodynamic steering "PAF", providing in particular a high load factor with steering "PIF which on the one hand provides a great speed of response and which also makes it possible to significantly raise the total maneuverability of the missile.

Cette invention permet, en combinaison avec de nombreux dispositifs connus, la définition de divers systèmes d'arme nouveaux, susceptibles notamment d'assurer la destruction d'un aérodyne supersonique à très forte manoeuvrabilité effectuant une approche en vol rasant ou sous un très fort angle de piqué.This invention makes it possible, in combination with numerous known devices, to define various new weapon systems, capable in particular of ensuring the destruction of a supersonic aerodyne with very high maneuverability performing an approach in low-angle flight or at a very high angle. of dive.

Un premier système d'arme selon l'invention consiste à éjecter à la verticale un missile avec son accélérateur éteint, à le basculer dans la direction de la cible en utilisant le système de pilotage « PIF », à allumer l'accélérateur pour porter le missile à très grande vitesse puis, dès fin de combustion dudit accélérateur, le centre de gravité du missile restant désormais fixe, à pouvoir utiliser le pilotage « PIF-PAF ».A first weapon system according to the invention consists in vertically ejecting a missile with its accelerator off, tilting it in the direction of the target using the "PIF" piloting system, and switching on the accelerator to carry the missile at very high speed then, at the end of combustion of said accelerator, the center of gravity of the missile now remaining fixed, to be able to use “PIF-PAF” piloting.

Un second système d'arme consiste à larguer le missile à partir d'un aérodyne et à utiliser ses dispositifs particuliers pour effectuer un ralliement rapide en direction de l'objectif.A second weapon system consists of dropping the missile from an aerodyne and using its specific devices to carry out a rapid rally towards the objective.

L'invention sera de toutes manières bien comprise dans la suite du texte qui va donner, à titre d'exemple non limitatif et à l'appui des dessins annexés, la description du système d'arme dit « Sol-Air-Naval (SAN) d'auto-défense des bâtiments de surface.The invention will in any case be well understood in the remainder of the text which will give, by way of nonlimiting example and in support of the appended drawings, the description of the weapon system known as “Ground-Air-Naval (SAN) ) self-defense of surface buildings.

Sur ces dessins :

  • La figure 1 représente une vue schématique du missile sur laquelle on voit ses moyens de pilotage aérodynamiques « PAF », ses moyens de pilotage en force « PIF » et son accélérateur qui est largable dans le cas présent.
  • La figure 2 représente une vue schématique montrant le déroulement de l'interception, par le système d'arme « SAN •, d'une cible rapide affectée d'une très grande manoeuvrabilité.
  • La figure 3 représente une vue schématique montrant l'interception de cibles conventionnelles.
  • La figure 4 met en évidence des courbes représentatives des performances de missile « SAN pendant l'interception d'une cible.
  • La figure 5 représente un schéma montrant, à titre d'exemple, la réalisation d'un pilote automatique « PIF-PAF •.
In these drawings:
  • FIG. 1 represents a schematic view of the missile on which we see its aerodynamic piloting means "PAF", its force piloting means "PIF" and its accelerator which is releasable in the present case.
  • FIG. 2 represents a schematic view showing the progress of the interception, by the “SAN • weapon system, of a fast target affected by a very great maneuverability.
  • FIG. 3 represents a schematic view showing the interception of conventional targets.
  • FIG. 4 highlights curves representative of the performance of the “SAN” missile during the interception of a target.
  • FIG. 5 represents a diagram showing, by way of example, the production of an automatic pilot “PIF-PAF •.

Conformément à l'invention, le missile selon les figures 1 et 2 comporte à la manière habituelle, un pilote automatique trois axes. La détection de la cible est effectuée sur le site (par exemple : un radar de veille 11A sur un bâtiment de surface 11 qui donne la situation de la cible en site, gisement et distance) et les éléments traités sont communiqués audit missile.In accordance with the invention, the missile according to FIGS. 1 and 2 comprises, in the usual manner, a three-axis autopilot. The detection of the target is carried out on the site (for example: a surveillance radar 11A on a surface building 11 which gives the situation of the target on site, deposit and distance) and the elements treated are communicated to said missile.

Il s'est avéré que, pour certaines cibles à vitesses supersoniques, extrêmement agiles et effectuant une approche rasante, leur détection tardive exige leur destruction au plus tôt afin d'assurer la sécurité du site protégé.It turned out that, for certain targets at supersonic speeds, extremely agile and performing a grazing approach, their late detection requires their destruction as soon as possible in order to ensure the security of the protected site.

Au niveau du missile ceci implique une vitesse moyenne sur trajectoire élevée, une grande capacité de manoeuvre, une distance de passage faible associée à une charge militaire capable d'assurer la neutralisation de l'objectif.At the missile level, this implies an average speed on a high trajectory, a large maneuverability, a short passage distance associated with a military charge capable of ensuring the neutralization of the objective.

Malheureusement, il est connu que les missiles actuels guidés en navigation proportionnelle ne répondent pas à ces critères sauf s'ils sont équipés d'une charge militaire très importante. En effet, ils sont pris.en défaut par la haute capacité de manoeuvre de la cible et son faible temps de réponse.Unfortunately, it is known that the current missiles guided in proportional navigation do not meet these criteria unless they are equipped with a very heavy military load. In fact, they are caught in default by the target's high maneuverability and its short response time.

Dans le but de remédier à ces difficultés, l'invention propose d'associer à un missile comportant un moyen de pilotage aérodynamique à fort facteur de charge dit « PAF », un mode de pilotage en force dit « PIF », cedit mode de pilotage comportant des moyens produisant des forces passant près du centre de gravité tel que cela est suggéré par l'examen de la figure 1.In order to remedy these difficulties, the invention proposes to associate with a missile comprising an aerodynamic piloting means with a high load factor called "PAF", a force piloting mode called "PIF", said piloting mode comprising means producing forces passing near the center of gravity as suggested by the examination of Figure 1.

Il est à noter que ces derniers moyens peuvent être de différentes natures et résulter soit d'action aérodynamiques par gouvernes, soit de jets.It should be noted that these latter means can be of different natures and result either from aerodynamic action by control surfaces, or from jets.

C'est ainsi que sur le schéma de la figure 1, les références 1 et 2 désignent respectivement le missile et son accélérateur largable. Le missile 1 comprend : un autodirecteur 3 ; des équipements de pilotage et de guidage 4 ; un mode de pilotage en force « PIF comprenant lui-même un dispositif de déviation de jets 5 produisant des forces passant près du centre de gravité CG et les dispositifs propulseurs 6A et 6B aménagés au voisinage du dispositif de déviation 5 de façon que le déplacement connu du centre de gravité CG soit très faible pendant la propulsion du propergol ; un ensemble aile et gouvernes aérodynamiques « PAF » portant la référence générale 7. La référence 8 désigne le stabilisateur déployable en l'occurrence de l'accélérateur largable 2.Thus in the diagram of Figure 1, references 1 and 2 respectively designate the missile and its releasable accelerator. The missile 1 comprises: a seeker 3; piloting and guiding equipment 4; a force piloting mode “PIF itself comprising a device for deflecting jets 5 producing forces passing near the center of gravity C G and the propellant devices 6A and 6 B arranged in the vicinity of the deflection device 5 so that the known displacement of the center of gravity C G is very low during propellant of the propellant; a set of wing and aerodynamic control surfaces “PAF” bearing the general reference 7. The reference 8 designates the deployable stabilizer in this case the releasable accelerator 2.

Ce nouveau procédé de pilotage en facteur de charge d'un missile permettant d'obtenir un très faible temps de réponse aux ordres même de grandes amplitudes ressort donc de l'association d'un système de pilotage aérodynamique à forte capacité de facteur de charge avec un système de pilotage en force passant près du centre de gravité à capacité de facteur de charge modéré mais à très faible temps de réponse.This new method for piloting the load factor of a missile, making it possible to obtain a very short response time to orders even at large amplitudes, therefore emerges from the association of an aerodynamic piloting system with high load factor capacity with a force control system passing near the center of gravity with moderate load factor capacity but very low response time.

Une telle association est caractérisée par l'équation ci-après :

Figure imgb0001
dans laquelle on désigne par :

  • Og l'ordre de guidage
  • F(p) la fonction de transfert PIF
  • G(p) la fonction de transfert du PAF
  • Γex l'accélération totale exécutée par le missile
  • Γ1 l'accélération « PIF
  • Γ2 l'accélération « PAF

et qui est mise en oeuvre par l'application de ladite équation.Such an association is characterized by the following equation:
Figure imgb0001
 in which we denote by:
  • Og the guidance order
  • F (p) the PIF transfer function
  • G (p) the PAF transfer function
  • Γex the total acceleration executed by the missile
  • Γ1 acceleration "PIF
  • Γ2 acceleration “PAF

and which is implemented by the application of said equation.

La figure 4 représente schématiquement l'évolution des caractéristiques principales : vitesse V, facteur de charge n et distance parcourue X, en fonction du déroulement séquentiel du vol du missile selon ses divers modes de fonctionnement découpés en phase I, II, III, IV et V respectivement définies comme suit :

  • - 0 t1 : lancement vertical du composite 1 + 2, à faible vitesse (phase I), basculement du composite (phase II)
  • - t1 t2 : phase III : accélération par l'allumage de l'accélérateur 2
  • - t2 t3 : phase IV : missile 1 piloté en « PIF-PAF », le centre de gravité est pratiquement fixe
  • ―13→: phase V : missile 1 piloté en « PAF » seul.
FIG. 4 schematically represents the evolution of the main characteristics: speed V, load factor n and distance traveled X, as a function of the sequential course of the flight of the missile according to its various operating modes divided into phases I, II, III, IV and V respectively defined as follows:
  • - 0 t1: vertical launch of the composite 1 + 2, at low speed (phase I), tilting of the composite (phase II)
  • - t1 t2: phase III: acceleration by switching on the accelerator 2
  • - t2 t3: phase IV: missile 1 piloted in “PIF-PAF”, the center of gravity is practically fixed
  • ―13 →: phase V: missile 1 piloted in "PAF" only.

Il apparaît maintenant clairement, sur cette figure 4, que c'est essentiellement durant la phase IV (t2 t3) que le missile 1 possède toutes les performances lui permettant de neutraliser, outre les objectifs classiques, les objectifs qui ont les meilleures performances connues c'est-à-dire possibilité d'attaque en vol rasant ou fort piqué, grande manoeuvrabilité ou encore évasives aléatoires, donc les objectifs qui risquent d'être détectés le plus tardivement.It now appears clearly, in this FIG. 4, that it is essentially during phase IV (t2 t3) that the missile 1 has all the performances allowing it to neutralize, in addition to the conventional objectives, the objectives which have the best known performances c '' is to say possibility of attack in flight grazing or strong dive, great maneuverability or even evasive random, therefore the objectives which are likely to be detected as late.

Il apparaît également sur cette figure 4 que, par le fait du pilotage « PAF •, le missile 1 reste capable, au cours de la phase V au-delà de t3, d'attaquer des cibles classiques plus lointaines.It also appears in this FIG. 4 that, by virtue of the "PAF" piloting, the missile 1 remains capable, during phase V beyond t3, of attacking more distant conventional targets.

Ceci est illustré sur les figures 2 et 3 où l'on voit respectivement un objectif 10, de hautes performances, attaqué pendant la phase IV (figure 2) ou bien des objectifs moins performants mais plus lointains tels qu'hélicoptère 13 ou avion 12 attaqué pendant la phase V (figure 3).This is illustrated in FIGS. 2 and 3 where we see respectively a high performance objective 10, attacked during phase IV (FIG. 2) or even less effective but more distant objectives such as helicopter 13 or attacked plane 12 during phase V (Figure 3).

Il est évident que les objectifs 12 ou 13 pourraient, a fortiori, être neutralisés pendant la phase IV.It is obvious that objectives 12 or 13 could, a fortiori, be neutralized during phase IV.

Selon une première mise en oeuvre de l'invention (figure 2) dans un système d'arme comportant un lancement vertical et un basculement dans une phase 1, le composite 1 + 2, ensemble missile et accélérateur éteint, est éjecté d'un site 11 à une vitesse de l'ordre de quelques dizaines de mètres/seconde par exemple à l'aide d'un générateur de gaz associé au tube de lancement 11B.According to a first implementation of the invention (FIG. 2) in a weapon system comprising a vertical launch and a tilting in a phase 1, the composite 1 + 2, missile and accelerator assembly extinguished, is ejected from a site 11 at a speed of the order of a few tens of meters / second, for example using a gas generator associated with the launch tube 11 B.

Quelques dixièmes de seconde après ce lancement vertical (phase I) le premier régime de pilotage en force « PIF » est initié, permettant de réaliser, dans la phase II, le basculement dudit ensemble en quelques dixièmes de seconde.A few tenths of a second after this vertical launch (phase I) the first “PIF” force piloting regime is initiated, making it possible to achieve, in phase II, the tilting of said assembly in a few tenths of a second.

Dans la phase III, l'accélérateur est allumé provoquant l'accélération du missile jusqu'à environ 1 000 m/s.In phase III, the accelerator is on, causing the missile to accelerate to around 1,000 m / s.

A la fin de la combustion de l'accélérateur, le centre de gravité reste alors pratiquement fixe. L'accélérateur est largué dans le cas présent.At the end of the combustion of the accelerator, the center of gravity then remains practically fixed. The accelerator is released in this case.

Pendant ces phases Il et III l'autodirecteur commence sa recherche de la cible 10 et, en cas d'accrochage avant la fin de la phase d'accélération III, une première correction d'orientation du missile est alors réalisée grâce au « PIF ».During these phases II and III the seeker begins its search for target 10 and, in the event of a catch before the end of acceleration phase III, a first correction of orientation of the missile is then carried out by means of the "PIF" .

Enfin, dans la phase IV, le missile 1, qui est alors en grande vitesse légèrement accélérée et est contrôlé par le pilotage « PIF-PAF », effectue :

  • - si l'autodirecteur n'a pas encore accroché, un préguidage recalé à partir du site de lancement tel que le bâtiment de surface 11
  • - si l'autodirecteur est accroché, son guidage en navigation proportionnelle en direction de la cible 10.
Finally, in phase IV, missile 1, which is then at high speed slightly accelerated and is controlled by the piloting "PIF-PAF", performs:
  • - if the seeker has not yet hooked up, a pre-steering failed from the launch site such as the surface building 11
  • - if the seeker is attached, its proportional navigation guidance in the direction of target 10.

Dans le cas d'une cible 10 à très basse altitude, la trajectoire dans le plan vertical est effectuée en léger piqué afin d'éviter certains effets possibles tel que l'effet « d'image sur la mer par exemple.In the case of a target 10 at very low altitude, the trajectory in the vertical plane is carried out in a slight dive in order to avoid certain possible effects such as the “image on the sea” effect for example.

Le pilotage du missile est assuré de la manière suivante :

  • Après les quelques dixièmes de seconde de vol libre suivant l'éjection à la verticale, le missile est pris en charge par le pilote automatique qui comporte trois modes de fonctionnement.
The missile is piloted as follows:
  • After a few tenths of a second of free flight following vertical ejection, the missile is taken over by the automatic pilot which has three operating modes.

Selon le premier mode qui vise le pilotage du composite 1 + 2 pendant les phases de basculement et d'accélération, le contrôle en lacet et en tangage est assuré par le premier niveau de fonctionnement du « PIF », c'est-à-dire avec action dudit dispositif « PIF », décalée par rapport au centre de gravité.According to the first mode which aims to pilot the composite 1 + 2 during the tilting and acceleration phases, yaw and pitch control is ensured by the first operating level of the "PIF", that is to say with action of said “PIF” device, offset from the center of gravity.

Dans le deuxième mode, qui est le pilotage de croisière, le pilote automatique en lacet/tangage est un asservissement en facteur de charge à performances dynamiques élevées. Il comporte un pilote aérodynamique classique, type « PAF », de constante de temps de l'ordre de quelques dixièmes de seconde, associé, conformément à l'invention, à un pilotage en force, type « PIF », au centre de gravité, cette fois pratiquement fixe, dont le temps de réponse est alors très faible, de l'ordre du centième de seconde.In the second mode, which is cruise control, the yaw / pitch autopilot is a load factor control with high dynamic performance. It comprises a conventional aerodynamic pilot, of the “PAF” type, with a time constant of the order of a few tenths of a second, associated, in accordance with the invention, with force control, of the “PIF” type, at the center of gravity, this practically fixed time, whose response time is then very short, of the order of a hundredth of a second.

Ainsi, selon l'invention, sont autorisés :

  • - une manoeuvrabilité élevée de l'ordre de 50 g, somme de la forte capacité de manoeuvre du « PAF » et de celle du pilotage en force « PIF » associée à un très faible temps de réponse de l'ordre du centième de seconde et ce dans tout le domaine de l'utilisation.
  • - un temps de réponse voisin de celui du « PIF pour les commandes types susceptibles de solliciter le pilote automatique.
Thus, according to the invention, the following are authorized:
  • - a high maneuverability of the order of 50 g, the sum of the strong maneuverability of the "PAF" and that of piloting in force "PIF" associated with a very short response time of the order of a hundredth of a second and this in the whole field of use.
  • - a response time close to that of the “PIF for standard commands likely to request the autopilot.

En définissant un type d'association préférée, il est possible d'indiquer ci-après un principe bien adapté au problème de l'autoguidage.By defining a preferred type of association, it is possible to indicate below a principle well suited to the problem of autoguiding.

Si l'on désigne :

  • - Og l'ordre de guidage (m/s2)
  • - F(p) la fonction de transfert de « PIF
  • - Γ1 l'accélération exécutée par le « PIF
  • - G(p) la fonction du transfert du « PAF
  • - r2 l'accélération exécutée par le « PAF
  • - Fex l'accélération totale exécutée par le missile
If we designate:
  • - Og the guidance order (m / s2)
  • - F (p) the transfer function of "PIF
  • - Γ1 the acceleration performed by the “PIF
  • - G (p) the transfer function of the “PAF
  • - r2 the acceleration executed by the "PAF
  • - Fex the total acceleration executed by the missile

La fonction de transfert, dans le domaine linéaire s'écrira alors :

Figure imgb0002
soit, en admettant à titre d'exemple,
Figure imgb0003
une fonction de transfert du pilote « PIF-PAF » :
Figure imgb0004
 The transfer function, in the linear domain will then be written:
Figure imgb0002
 or, admitting by way of example,
Figure imgb0003
 a "PIF-PAF" pilot transfer function:
Figure imgb0004

Ainsi il peut être démontré que le temps de réponse du pilote est légèrement plus faible que celui de chacun de ses composants tout en restant toutefois assez voisin de celui du plus rapide.Thus it can be demonstrated that the pilot's response time is slightly lower than that of each of its components while remaining fairly close to that of the fastest.

En d'autres termes, on voit que physiquement le « PIF » travaille en vernier sur l'erreur d'excécution du « PAF et qu'en présence d'un ordre constant et après un délai égal au temps de réponse du « PAF », le « PIF est entièrement disponible pour exécuter rapidement une nouvelle action.In other words, we see that physically the "PIF" works in vernier on the execution error of the "PAF" and that in the presence of a constant order and after a delay equal to the response time of the "PAF" , "PIF is fully available to quickly execute a new action.

Le troisième mode, qui correspond au pilotage en vol libre, après arrêt du dispositif « PIF », devient du type aérodynamique classique. Le dispositif « PIF » peut être ultérieurement réactivé.The third mode, which corresponds to piloting in free flight, after stopping the “PIF” device, becomes of the classic aerodynamic type. The “PIF” device can be reactivated later.

Le guidage proprement dit comporte un préguidage et un autoguidage.The actual guidance includes pre-steering and autoguiding.

Le préguidage est inertiel, effectué à partir des informations du centre, éventuellement recalées en vol chaque seconde, et des données d'une centrale de type « strap-down » par exemple.The pre-guidance is inertial, carried out from information from the center, possibly readjusted in flight every second, and data from a “strap-down” type central unit for example.

Il comporte deux étapes, l'une de basculement pendant lequel on réalise un asservissement en assiette contrôlé par le dispositif « PIF »., l'autre d'accélération pendant laquelle le missile toujours contrôlé par le dispositif « PIF », l'autre d'accélération pendant laquelle le missile toujours contrôlé par le dispositif « PIF » est dirigé vers un point intermédiaire entre le but actuel et le but futur.It comprises two stages, one of tilting during which a attitude control is carried out controlled by the “PIF” device., The other of acceleration during which the missile always controlled by the “PIF” device, the other d acceleration during which the missile still controlled by the “PIF” device is directed towards an intermediate point between the current and the future goal.

L'autoguidage commence dès après l'opération de largage de l'accélérateur ce qui nécessite environ 0,1 seconde. La loi de guidage est une navigation proportionnelle pure de coefficient environ 4 avec correction de la décélération du missile dans la phase de vol non perturbée.Autoguiding begins immediately after the release of the accelerator, which requires approximately 0.1 seconds. The guidance law is pure proportional navigation with a coefficient of around 4 with correction of the deceleration of the missile in the undisturbed flight phase.

Selon la figure 5, le schéma représente un dispositif de pilotage possible « PIF-PAF d'un missile 19. Il est constitué :

  • -d'un pilote aérodynamique classique en facteur de charge dit « PAF » et comprenant par exemple un accéléromètre 20, un gyromètre 18 et une intégration 1/p, 21, (p étant le symbole de LAPLACE)
  • - d'un dispositif du pilotage en force dit « PIF » 17 à faible temps de réponse tel que déviateur de jets, impulseurs... et de son dispositif de commande 16
  • - d'un simulateur 15 du comportement du « PIF pouvant recevoir des informations de 16, 18, 20 et du capteur de pression 14 s'il s'agit d'un « PIF » utilisant un propulseur ou un générateur de gaz.
According to FIG. 5, the diagram represents a possible piloting device “PIF-PAF of a missile 19. It is made up:
  • -a classic aerodynamic pilot in load factor called "PAF" and comprising for example an accelerometer 20, a gyrometer 18 and an integration 1 / p, 21, (p being the symbol of LAPLACE)
  • - a force piloting device called "PIF" 17 with a low response time such as deflector of jets, impellers ... and its control device 16
  • - a simulator 15 of the behavior of the “PIF capable of receiving information from 16, 18, 20 and of the pressure sensor 14 if it is a“ PIF ”using a propellant or a gas generator.

L'ordre de guidage augmenté de la sortie du modèle 15 sert d'entrée au pilote aérodynamique. L'erreur d'asservissement du pilote aérodynamique sert d'entrée à la fois au dispositif 16 de commande du « PIF » et à son simulateur de fonctionnement 15.The increased guidance order from the output of the model 15 serves as input to the aerodynamic pilot. The aerodynamic pilot's servo error serves as input to both the device 16 for controlling the "PIF" and to its operating simulator 15.

En d'autres termes, le « PIF » travaille en vernier sur l'erreur du « PAF ce qui permet d'obtenir un dispositif d'ensemble dont la capacité de manoeuvre est la somme de la capacité de manoeuvre des dispositifs partiels et dont le temps de réponse est voisin du temps de réponse du dispositif partiel le plus rapide.In other words, the “PIF” works as a vernier on the error of the “PAF” which makes it possible to obtain an overall device whose operating capacity is the sum of the operating capacity of the partial devices and whose response time is close to the response time of the fastest partial device.

Il est clair de constater que l'invention peut être mise en œuvre dans un système d'arme devant assurer la protection autonome d'un bâtiment de surface.It is clear that the invention can be implemented in a weapon system which must provide independent protection for a surface building.

Il est évident de voir qu'elle pourrait de même être mise en oeuvre dans tout autre système d'arme comportant une plateforme de lancement quelconque fixe, mobile ou semimobile.It is obvious to see that it could likewise be implemented in any other weapon system comprising any fixed launch platform, mobile or semi-mobile.

L'invention n'est pas limitée à la forme de réalisation décrite mais peut au contraire inclure toutes autres variantes qui entreraient dans son cadre, lequel est défini dans les revendications qui suivent.The invention is not limited to the embodiment described but may on the contrary include any other variants which would fall within its scope, which is defined in the claims which follow.

Claims (3)

1. A lateral acceleration control method for a missile to obtain very short response time to orders even of high amplitude, comprising the association of :
- an aerodynamic control system with high lateral acceleration capacity (7) called « PAF », and
- a force control system (5, 6A, 6B) near the center of gravity (CG) with moderate lateral acceleration capacity but with very short response time called « PIF », characterized in that said association is such that its overall response to an order is then given by the equation :
Figure imgb0006
in which one designates by :
Og, the guidance order,
F(p), the transfer function of the « PIF »,
G(p), the transfer function of the « PAF »,
Fex the total acceleration executed by the missile, r2 the « PAF » acceleration, and Γ1 the « PIF acceleration ; and in which the usual response of the automatic aerodynamic pilot G(p) Og is distinguished, to which there is added the response of the « PIF », F(p) (1-G(p)) Og, working in vernier upon the error (1-G(p)) Og of the « PAF », such that in addition to, and in the presence of, a constant order and after a periode of time equal to the time of response to the « PAF », the « PIF » is entirely available for realizing a new action.
2. A device for application of the method to an weapon system according to claim 1, characterized in that it comprises the utilization of :
- means for vertical ejection of the missile (11 B),
- means for bringing the force control (5, 6A, 6B) « PIF » into normal operation, thereby permitting tipping over due to the shifted position of the center of gravity (CG) before complete combustion of the booster,
- means for acceleration (2) of the missile (1) which during this phase is controlled by the « PIF device,
- means for searching (3) for the target (10) to produce, in case of locking on before completion of the acceleration phase, first correction of orientation of the missile (1) by the « PIF »,
- control means « PIF-PAF » which effects :
an updated mid-course phase if the home head (3) has not locked on,
a guidance (4) in the direction of the target (10) using the « PIF-PAF control at least in the proximity of said target (10),
- means permitting to use the « PAF » after using the « PIF » if need be.
3. A control device for application of the method according to claim 1, characterized in that the aerodynamic control « PAF and force control « PIF systems comprise the following elements :
- a conventional aerodynamic lateral acceleration control including for example an accelerometer (20), a gyrometer (18) and an integration device (21),
- a force control with a short response time (17) and its control device (16),
- a simulator (15) of the force control behavior that may receive information from the force control device (16), the gyrometer (18), the accelerometer (20) and a sensor (14), the arrangement of said elements being such that the guidance order, increased by the output from the simulator (15) serves as an input to the aerodynamic control, and the servo-control error of the aerodynamic control is used as an input to both control devices (16) of the « PIF » device and its operation simulator (15).
EP82400527A 1981-04-01 1982-03-23 Lateral acceleration control method for a missile and corresponding weapon system Expired EP0062563B1 (en)

Priority Applications (1)

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AT82400527T ATE15266T1 (en) 1981-04-01 1982-03-23 METHOD OF CONTROLLING THE SIDEWAY ACCELERATION OF A MISSILE AND RELATIVE WEAPON SYSTEM.

Applications Claiming Priority (2)

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FR8106541 1981-04-01
FR8106541A FR2503413A1 (en) 1981-04-01 1981-04-01 METHOD FOR CONTROLLING THE LOAD FACTOR OF A MISSILE AND CORRESPONDING WEAPON SYSTEMS

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EP0222571A3 (en) * 1985-10-31 1988-05-04 British Aerospace Public Limited Company Line of sight missile guidance
GB2214749B (en) * 1988-01-29 1992-02-19 Marconi Co Ltd Radar seeker transient suppressor
US8173946B1 (en) 2008-08-26 2012-05-08 Raytheon Company Method of intercepting incoming projectile
US8058596B2 (en) * 2009-08-27 2011-11-15 Raytheon Company Method of controlling missile flight using attitude control thrusters
CN116301028B (en) * 2023-02-09 2023-08-04 大连理工大学 Multi-constraint on-line flight trajectory planning middle section guiding method based on air suction hypersonic speed platform

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US3072365A (en) * 1957-09-16 1963-01-08 Missile Corp Pilotless craft guidance method and means
US3695555A (en) * 1970-06-12 1972-10-03 Us Navy Gun-launched glide vehicle with a mid-course and terminal guidance control system
FR2226066A5 (en) * 1970-10-13 1974-11-08 Bodenseewerk Geraetetech
US3735944A (en) * 1971-06-25 1973-05-29 U S A Represented By Secretary Dual mode guidance and control system for a homing missile
GB1467035A (en) * 1973-05-25 1977-03-16 Messerschmitt Boelkow Blohm Attacking flying targets from a submarine
JPS5848840B2 (en) * 1975-02-21 1983-10-31 株式会社東芝 Hishiyoutaino Kuuchiyuurotsukuonhoushiki
US4198015A (en) * 1978-05-30 1980-04-15 The United States Of America As Represented By The Secretary Of The Army Ideal trajectory shaping for anti-armor missiles via time optimal controller autopilot
US4277038A (en) * 1979-04-27 1981-07-07 The United States Of America As Represented By The Secretary Of The Army Trajectory shaping of anti-armor missiles via tri-mode guidance

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FR2503413B1 (en) 1983-07-08
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AU544856B2 (en) 1985-06-13
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JPH0457960B2 (en) 1992-09-16
JPS5828998A (en) 1983-02-21
FR2503413A1 (en) 1982-10-08
EP0062563A1 (en) 1982-10-13
DE3265731D1 (en) 1985-10-03

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